function info =  slope_traj_info(vel_value,t_speed,t_ed,period,pos_st)
    %输入为恒定速度的值、有速度的时间、结束时间、间隔、开始位置
    
    steps = t_ed/period + 1;
    info = zeros(steps,3);
    info(1,1) = pos_st;
    for i = 2:1:steps
        t = (i-1)*period;
        info(i,2) =  0.*(t<=0 | t > t_speed) + vel_value .*(t>0 & t<= t_speed);
        info(i,1) = pos_st+ 0.*(t<=0 | t > t_ed) + t*vel_value .*(t>0 & t<= t_speed)+ t_speed*vel_value.*(t>t_speed & t<= t_ed);
        info(i,3) = (info(i,2)-info(i-1,2))*period;
    end
        
end